A mixture density network approach to modelling and exploiting uncertainty in nonlinear control problems

In nonlinear and stochastic control problems, learning an efficient feed-forward controller is not amenable to conventional neurocontrol methods. For these approaches, estimating and then incorporating uncertainty in the controller and feed-forward models can produce more robust control results. Here, we introduce a novel inversion-based neurocontroller for solving control problems involving uncertain nonlinear systems which could also compensate for multi-valued systems. The approach uses recent developments in neural networks, especially in the context of modelling statistical distributions, which are applied to forward and inverse plant models. Provided that certain conditions are met, an estimate of the intrinsic uncertainty for the outputs of neural networks can be obtained using the statistical properties of networks. More generally, multicomponent distributions can be modelled by the mixture density network. Based on importance sampling from these distributions a novel robust inverse control approach is obtained. This importance sampling provides a structured and principled approach to constrain the complexity of the search space for the ideal control law. The developed methodology circumvents the dynamic programming problem by using the predicted neural network uncertainty to localise the possible control solutions to consider. A nonlinear multi-variable system with different delays between the input-output pairs is used to demonstrate the successful application of the developed control algorithm. The proposed method is suitable for redundant control systems and allows us to model strongly non-Gaussian distributions of control signal as well as processes with hysteresis. © 2004 Elsevier Ltd. All rights reserved.

Nonlocal Boundary Value Problems for Two-Dimensional Potential Equation on a Rectangle

Иван Димовски, Юлиан Цанков - Предложено е разширение на принципa на Дюамел. За намиране на явно решение на нелокални гранични задачи от този тип е развито операционно смятане основано върху некласическа двумерна конволюция. Пример от такъв тип е задачата на Бицадзе-Самарски.

A method of fundamental solutions for radially symmetric and axisymmetric backward heat conduction problems

We propose and investigate an application of the method of fundamental solutions (MFS) to the radially symmetric and axisymmetric backward heat conduction problem (BHCP) in a solid or hollow cylinder. In the BHCP, the initial temperature is to be determined from the temperature measurements at a later time. This is an inverse and ill-posed problem, and we employ and generalize the MFS regularization approach [B.T. Johansson and D. Lesnic, A method of fundamental solutions for transient heat conduction, Eng. Anal. Boundary Elements 32 (2008), pp. 697–703] for the time-dependent heat equation to obtain a stable and accurate numerical approximation with small computational cost.

Um sistema multiagente multidimensional para simulação de processos de produção e gestão social de um ecossistema urbano: uma abordagem baseada na integração de artefatos organizacionais, normativos, físicos e de comunicação no JaCaMo

Esta dissertação apresenta a modelagem de uma ferramenta baseada em SMA para a simulação da produção e gestão social de um ecossistema urbano, a organização social do Projeto da Horta San Jeronimo(SJVG), localizado no Parque San Jeronimo Sevilha, Espanha, que e coordenado pela confederação Ecologistas en Accion . Estes processos sociais observados no projeto do SJVG são caracterizados pela ocorrência de uma serie de interações e trocas sociais entre os participantes. Além disso, os comportamentos periódicos, interações e comunicações são regulados pelo Regimento de Normas Internas, estabelecidos pela comunidade em assembleia, sob a supervisão e coordenação da confederação EA. O SMA foi concebido como um sistema JaCaMo multidimensional, composto por cinco dimensões integradas: a população de agentes, os artefatos normativos (a organização), os artefatos físicos (o ambiente dos agentes), artefatos de comunicação (o conjunto de interações) e os artefatos normativos (política normativa interna). A ferramenta utilizada no projeto e o framework JaCaMo, uma vez que apresenta suporte de alto nível e modularidade para o desenvolvimento das três primeiras dimensões acima mencionadas. Mesmo tendo enfrentado alguns problemas importantes que surgiram adotando o framework JaCaMo para desenvolvimento do Projeto SJVG-SMA, como: (i) a impossibilidade de especificação da periodicidade no modelo MOISE, (II) a impossibilidade de definir normas, seus atributos básicos (nome, periodicidade, papel a que se aplica) e as sanções, e (III) a inexistência de uma infraestrutura modular para a definição de interações através da comunicação, foi possível adotar soluções modulares interessantes para manter a ideia de um SMA de 5 dimensões, desenvolvidos na plataforma JaCaMo. As soluções apresentadas neste trabalho são baseadas principalmente no âmbito do Cartago, apontando também para a integração de artefatos organizacionais, normativos, físicos e de comunicação.

Creative design and the generative evolutionary paradigm

Design as seen from the designer's perspective is a series of amazing imaginative jumps or creative leaps. But design as seen by the design historian is a smooth progression or evolution of ideas that they seem self-evident and inevitable after the event. But the next step is anything but obvious for the artist/creator/inventor/designer stuck at that point just before the creative leap. They know where they have come from and have a general sense of where they are going, but often do not have a precise target or goal. This is why it is misleading to talk of design as a problem-solving activity - it is better defined as a problem-finding activity. This has been very frustrating for those trying to assist the design process with computer-based, problem-solving techniques. By the time the problem has been defined, it has been solved. Indeed the solution is often the very definition of the problem. Design must be creative-or it is mere imitation. But since this crucial creative leap seem inevitable after the event, the question must arise, can we find some way of searching the space ahead? Of course there are serious problems of knowing what we are looking for and the vastness of the search space. It may be better to discard altogether the term "searching" in the context of the design process: Conceptual analogies such as search, search spaces and fitness landscapes aim to elucidate the design process. However, the vastness of the multidimensional spaces involved make these analogies misguided and they thereby actually result in further confounding the issue. The term search becomes a misnomer since it has connotations that imply that it is possible to find what you are looking for. In such vast spaces the term search must be discarded. Thus, any attempt at searching for the highest peak in the fitness landscape as an optimal solution is also meaningless. Futhermore, even the very existence of a fitness landscape is fallacious. Although alternatives in the same region of the vast space can be compared to one another, distant alternatives will stem from radically different roots and will therefore not be comparable in any straightforward manner (Janssen 2000). Nevertheless we still have this tantalizing possibility that if a creative idea seems inevitable after the event, then somehow might the process be rserved? This may be as improbable as attempting to reverse time. A more helpful analogy is from nature, where it is generally assumed that the process of evolution is not long-term goal directed or teleological. Dennett points out a common minsunderstanding of Darwinism: the idea that evolution by natural selection is a procedure for producing human beings. Evolution can have produced humankind by an algorithmic process, without its being true that evolution is an algorithm for producing us. If we were to wind the tape of life back and run this algorithm again, the likelihood of "us" being created again is infinitesimally small (Gould 1989; Dennett 1995). But nevertheless Mother Nature has proved a remarkably successful, resourceful, and imaginative inventor generating a constant flow of incredible new design ideas to fire our imagination. Hence the current interest in the potential of the evolutionary paradigm in design. These evolutionary methods are frequently based on techniques such as the application of evolutionary algorithms that are usually thought of as search algorithms. It is necessary to abandon such connections with searching and see the evolutionary algorithm as a direct analogy with the evolutionary processes of nature. The process of natural selection can generate a wealth of alternative experiements, and the better ones survive. There is no one solution, there is no optimal solution, but there is continuous experiment. Nature is profligate with her prototyping and ruthless in her elimination of less successful experiments. Most importantly, nature has all the time in the world. As designers we cannot afford prototyping and ruthless experiment, nor can we operate on the time scale of the natural design process. Instead we can use the computer to compress space and time and to perform virtual prototyping and evaluation before committing ourselves to actual prototypes. This is the hypothesis underlying the evolutionary paradigm in design (1992, 1995).